Method for automatically changing a bending die and/or at least one guiding nozzle of a machine for bending material

ABSTRACT

A method includes feeding material in wire, rod or band form to a bending head through the a guiding nozzle of a feeding device and bending the material via a bending die. The bent material is taken out of the bending machine by a robot gripper arm controlled via a control device, and the bending die and/or the guiding nozzle is removed from the bending machine by a, preferably the same, robot gripper arm. Optionally, a further bending die and/or a further guiding nozzle is arranged on the bending machine by a, preferably the same, robot gripper arm. Optionally, the material is fed to the bending head through the further guiding nozzle and/or bent via the further bending die. Optionally, the bent material is removed from the bending machine by a, preferably the same, robot gripper arm.

BACKGROUND OF THE INVENTION

The invention relates to a method for automatically changing a bending die and/or at least one guiding nozzle of a machine for bending material in wire, rod or band form. Moreover, the invention relates to an arrangement of at least one robot gripper arm and at least one control device for controlling the at least one robot gripper arm. Furthermore, the invention relates to a bending machine for bending material in wire, rod or band form, in particular for producing stirrups for reinforced concrete construction, comprising a supporting frame, at least one bending head, preferably with two drives—which are aligned orthogonal to each other—and/or at least one bending roll, at least one feeding device with at least one guiding nozzle, via which material to be bent can be fed to the at least one bending head, at least one bending die, releasably arranged in a bending die receiver, for bending the material, at least one robot gripper arm, preferably of a multi-axis robot, and at least one control device for controlling the at least one robot gripper arm. Moreover, the invention relates to a bending die for such a bending machine and/or for such a method.

A bending machine for bending material in rod form is known from the document EP 3 439 806 A1, wherein it has already been contemplated to provide a removal of bent pieces of material by means of stirrup-collecting systems or robots.

A disadvantage of the state of the art is that the suitable bending die and the correct guiding nozzle for varying material diameters, bending radii and materials to be bent need to be fitted on the bending machine in a time-consuming and resource-intensive manner, whereby retooling of the bending machine cannot be quickly and flexibly adapted to changing customer orders. Because of the large number of different bending dies, there is the danger that the bending machine is incorrectly equipped, whereby rejects are produced. In addition, the manufactured bent stirrups also have to be further transported from the bending machine manually, as a result of which the production process is inefficiently designed. Because of the requirement for a large number of manual adjustment and fitting steps, in which there is the danger of injury to the operator, the production flow has to be shut down in an undesired manner.

SUMMARY OF THE INVENTION

The objective technical problem of the present invention is therefore to specify a method, improved compared with the state of the art, for changing at least one bending die and/or at least one guiding nozzle as well as a bending machine, an arrangement of at least one robot gripper arm and at least one control device as well as a bending die in which the disadvantages of the state of the art are at least partially remedied, and which are characterized in particular by an efficient retooling process and/or an increased degree of automation.

Therefore, according to the invention, the following method steps are carried out, in particular chronologically:

-   -   material in wire, rod or band form is fed to at least one         bending head through the at least one guiding nozzle and bent         via the at least one bending die,     -   the bent material is taken out of the bending machine by a robot         gripper arm controlled via at least one control device     -   the at least one bending die and/or the at least one guiding         nozzle is removed from the bending machine by a, preferably the         same, robot gripper arm     -   optionally, at least one further bending die and/or at least one         further guiding nozzle is arranged on the bending machine by a,         preferably the same, robot gripper arm     -   optionally, material in wire, rod or band form is fed to the at         least one bending head through the at least one further guiding         nozzle and/or bent via the at least one further bending die,     -   optionally, the bent material is removed from the bending         machine via a, preferably the same, robot gripper arm.

It is thereby made possible first that, in the case of a bending machine which comprises a robot gripper arm or which interacts with a robot gripper arm, the robot gripper arm has a dual function both of taking the bent material—preferably bent stirrups—out of the bending machine and of changing bending dies and/or guiding nozzles. This can be effected by the same gripper tool of the robot gripper arm or via an auxiliary tool to be received by the robot gripper arm, wherein the change can be generated fully automatically without the need for manual fitting and/or adjustment steps. The at least one control device can be flexibly adapted—in particular remotely

-   -   to altered requirements on the bending machine.

Added to this there is the positive property that different wire diameters, bending radii or materials for processing from the coil can be handled in a fluid production process, wherein the movement sequence of the robot gripper arm can be stored in the control device. An increase in the productivity of the bending machine can thereby be due to a reduced number of production interruptions by operators, a higher degree of safety for operators of the bending machine, a simple monitoring of cycle times and cycle numbers in the case of a respective bending die and/or guiding nozzle, a reduction in instances of incorrect equipment—in particular in the case of visually similar bending dies and/or guiding nozzles—and of damage to structural elements/components. The possibility of a manual intervention in a retooling process for the bending machine is nevertheless maintained and can be used in addition to the fully automatic process if necessary.

The at least one bending die defines the geometric design of the bent material. The at least one guiding nozzle can pull the material toward the bending head, wherein in general other components—for example the at least one feeding device—can also be changed automatically by the robot gripper arm—in particular by programming of the and/or instructions to the control device.

Varying bending dies can differ for example by altered bending surfaces, bending radii, profile shapes et cetera. Varying guiding nozzles can differ for example by a diameter for receiving the material to be bent in the feed to the at least one bending head. In the at least one control device, for example, a configuration file can be stored, in which the large number of geometric parameters of the structural element components and/or products are stored. Such a configuration file can also be processed or, respectively, used by the at least one control device.

The robot gripper arm can in general represent an integral constituent of the bending machine or a robot, separate from the bending machine, interacting with the bending machine.

As stated at the beginning, protection is also sought for an arrangement of at least one robot gripper arm and at least one control device for controlling the at least one robot gripper arm, characterized in that the at least one control device is configured to move the at least one robot gripper arm to take bent material, preferably at least one stirrup, out of a bending machine and to change at least one bending die and/or at least one guiding nozzle.

The configuration of the at least one control device can for example comprise the storage of movement sequences of the at least one robot gripper arm and/or of geometric parameters for at least one gripper tool of the at least one robot gripper arm.

As stated at the beginning, protection is also sought for a bending machine, wherein the at least one control device is configured to move the at least one robot gripper arm to take bent material, preferably at least one stirrup, out of the bending machine and to change the at least one bending die and/or the at least one guiding nozzle.

The bending of the material is preferably generated via two rolls, wherein for example a bending head is provided as a bending pin and a bending roll, preferably spaced apart substantially by a diameter of the material to be bent, is provided as a bending mandrel and the bending head particularly preferably rotates partially around the bending roll to form a specific bending radius. The axis of rotation of the bending head is particularly preferably identical to an axis of symmetry of the bending roll, wherein in general this is not strictly necessary.

As stated at the beginning, protection is also sought for a bending die of such a bending machine with at least one locking device, wherein the at least one locking device is arranged on at least one centering shaft for, preferably orthogonal, arrangement inside at least one bending die receiver of the bending machine and/or is formed in the form of a locking disk rotatable relative to at least one bending die receiver.

The at least one locking device is particularly preferably formed such that the bending die is automatically lockable on the at least one bending die receiver via the at least one robot gripper arm. For example, a notch, which can be secured on the at least one bending die receiver (or in kinematic inversion) by locking means, can be provided on the at least one centering shaft. The at least one locking device can also be present for example in the form of a groove, in which the at least one locking disk engages in an automated manner (mechanically or electronically initiated) after positioning of the bending die on the at least one bending die receiver has been effected.

At least one locking disk for locking the bending die inside the at least one bending die receiver has the advantage that contaminations of the locking mechanism are prevented and/or no additional bearing means and/or lubricants are necessary. The at least one locking disk can in general be allocated to the bending die and/or can be arranged and remain on the at least one bending die receiver as a structural element component spatially separate from the bending die.

The features of the device claims are applicable mutatis mutandis to the method claims and vice versa. Accordingly, for example, the structural features of the locking-in-place of the at least one bending die are applicable in process engineering terms.

According to an advantageous design of the invention, the bent material is deposited on at least one magazine, wherein the at least one magazine is moved by a moving device, preferably rotating device, and/or is automatically maneuvered by at least one autonomous driverless transport means, preferably via at least one marker for identifying the at least one magazine.

If the bent material is deposited on the at least one magazine by the robot gripper arm to fill it, empty magazines are provided for filling by the moving device and the filled magazines are automatically removed by the autonomous driverless transport means, fully automatic logistics and operation of the bending machine can be guaranteed, wherein in the state of the art it cannot be learnt, in particular not without manual steps, where the manufactured products are to be transported to, and staff in the form of forklift drivers are necessary in order to remove the products from the bending machine. This effectively eliminates the danger of faulty logistics, wherein information about the bent material, such as material thickness, bending radius, place of origin, place of delivery, desired or expedient storage location et cetera, can be provided via the at least one marker.

The type of the at least one marker (as well as the further marker represented below) is in general as desired, wherein chips, RFID chips, barcodes, tags or the like can be used in order to automatically transmit the data necessary for the logistics to the autonomous driverless transport means—for example by scanning or via wireless connection. The at least one marker need not necessarily be arranged on the at least one magazine.

The at least one marker (analogously the at least one further marker) can include movement information for the bent material (analogously for the at least one bending die and/or the at least one guiding nozzle).

The autonomous driverless transport means particularly preferably comprises a further control device, which is configured to identify the at least one magazine—in particular via the at least one marker—and/or transport it to a defined location.

Advantageously, at least one bending die is inserted in at least one bending die receiver of the bending machine orthogonally to the at least one bending die receiver and/or is pushed laterally into the at least one bending die receiver by the at least one robot gripper arm, wherein it is preferably provided that the at least one bending die is locked in place, particularly preferably by an auxiliary tool of the robot gripper arm, via at least one pin and/or at least one locking disk.

In the case of an orthogonal insertion of the at least one bending die, a centering shaft—where appropriate with a groove or notch—of the at least one bending die can be used in order to guarantee a precise positioning. In the case of a lateral pushing-in of the at least one bending die, the bending die receiver can be used as a guide and/or limit stop in order to guarantee the correct locating of the at least one bending die—where appropriate with a locking on the at least one bending die receiver via at least one locking disk.

The at least one robot gripper arm can, with at least one gripper tool, contact the at least one bending die on a defined contacting section (for example a flat lateral surface or opening), with which the at least one bending die can be taken out of the at least one bending die receiver of the bending machine vertically against gravity or laterally orthogonal to gravity. The same or another gripper tool can be used for the at least one guiding nozzle and/or the manufactured material.

It has proved to be beneficial that a cutting device is provided arranged between the at least one bending head and the at least one feeding device, preferably formed of at least one blade and at least one counterblade movable relative to the at least one blade, wherein the at least one feeding device has a first end, facing the at least one bending head, and a second, opposite, end, wherein the at least one blade of the cutting device is arranged at the first end and at the second end the at least one feeding device is mounted on the supporting frame pivotable about a pivot point, with the result that through a pivoting movement of the at least one feeding device about the pivot point a relative movement between the at least one blade and the at least one counterblade of the cutting device can be brought about to carry out a cutting, wherein a lever arm is provided, which is connected at one end to the first end of the at least one feeding device and at an opposite end is mounted on the supporting frame of the bending machine pivotable about a pivot point, wherein it is preferably provided that the lever arm and the at least one feeding device enclose an angle of substantially 90°.

A compact and efficiently functioning bending machine can thereby be provided in order for example to manufacture high-quality stirrups and to provide them to the at least one robot gripper arm.

According to an advantageous embodiment of the invention, precisely one robot gripper arm is provided for taking out the material and for changing the at least one bending die and/or the at least one guiding nozzle, and/or the material to be bent has a diameter of between 5 mm and 20 mm, preferably between 6 mm and 16 mm.

The number of robot gripper arms can thereby be reduced, wherein the at least one gripper tool is formed to move products and structural element components. The material diameter is particularly preferably designed for the steel industry.

It has proved to be advantageous that at least one magazine is provided for depositing bent material, preferably at least on two sides, and/or at least one further magazine is provided for intermediate storage of the at least one bending die and/or the at least one guiding nozzle, wherein it is preferably provided that the at least one magazine and/or the at least one further magazine comprises a moving device, preferably rotating device.

An advantageous variant of the present invention is that bent material can be deposited on the at least one magazine by the at least one robot gripper arm, wherein at least one autonomous driverless transport means is provided for automatically maneuvering the at least one magazine, wherein it is preferably provided that the at least one magazine comprises at least one marker for identifying the at least one magazine.

Preferably, the at least one bending die and/or the at least one guiding nozzle comprises at least one further marker for identifying the at least one bending die and/or the at least one guiding nozzle.

In order, as an alternative or in addition to a fully automated removal of the bent material, also to promote a fully automated change of the at least one bending die and/or the at least one guiding nozzle, the at least one robot gripper arm can ascertain information for example about the geometry and/or possible bending radii via the at least one further marker. The at least one further marker can for example be scanned by the at least one robot gripper arm, or read via wireless communication. In general, however, the at least one further marker can also be provided by a defined position on the at least one further magazine, with the result that a unique allocation of the depositing location of the component to be changed is stored to the at least one control device.

In an embodiment of the invention, at least one locking device is provided for locking the at least one bending die in the at least one bending die receiver, wherein it is preferably provided that the at least one bending die can be secured via a corresponding locking device of the at least one bending die and/or in three bidirectional orthogonal spatial directions.

According to a preferred embodiment of the invention, the at least one locking device comprises at least one, preferably spring-loaded, pin and/or at least one locking disk for securing the at least one bending die, wherein it is preferably provided that

-   -   the at least one bending die receiver and/or the at least one         bending die is rotatable relative to the at least one locking         disk, and/or     -   the at least one locking disk comprises a receiver, preferably a         slot, for an optionally present auxiliary tool of the at least         one robot gripper arm and/or at least one, preferably         spring-pretensioned, ball valve is provided for securing the at         least one locking disk in an unlocked position and/or a locked         position.

By at least one pin or other locking means, such as a clamping device, the at least one bending die can be secured, for example via a groove on the at least one bending die, inside the at least one bending die receiver. The at least one pin can be displaced or actuated, preferably electronically or mechanically, by the application of force in the course of the insertion or withdrawal of the at least one bending die in or from the at least one bending die receiver (for example via sloping surfaces).

In the case of a locking disk, an engagement in a locking device (such as a groove) of the at least one bending die for securing inside the bending die receiver can be effected via a rotation. The locking disk can, however, also be regarded as part of the bending die, although the locking disk particularly preferably remains on the bending die receiver during a change of the bending die.

It has proved to be beneficial that the bending die comprises at least one opening and/or drilled hole for receiving at least one auxiliary tool of a robot gripper arm.

A dirt-resistant means for safely moving the bending die via the at least one robot gripper arm is thereby provided, without requiring additional structural element components on the bending die.

Preferably, the at least one robot gripper arm comprises at least one gripper tool, which is formed to receive bent material and at least one bending die and/or at least one guiding nozzle, wherein the at least one gripper tool is formed as gripping jaws and/or comprises at least one, preferably spring-loaded, auxiliary tool to be arranged in areas inside an opening and/or drilled hole of at least one bending die.

The at least one auxiliary tool and the gripping jaws can be provided as an alternative or in addition to the at least one robot gripper arm.

Moreover, preferably the at least one auxiliary tool is formed substantially cylindrical and/or comprises at least one conical free end, preferably spaced apart by a groove, and/or at least one bending die can be locked in at least one bending die receiver, preferably by fixing a locking disk of the at least one bending die, via the at least one auxiliary tool.

The conical free end makes entry into an opening of the at least one bending die easier. The groove can represent a retaining means for the maneuvering of the at least one bending die, wherein for example at least one auxiliary tool is moved laterally relative to the opening and generates a positive locking against gravity. An undesired collision between gripper tool and bending die can be prevented by a cylindrical design (or other elongate spacing means with polygonal cross section).

BRIEF DESCRIPTION OF THE DRAWINGS

Further details and advantages of the present invention are explained in more detail below with the aid of the description of the figures with reference to the embodiments represented in the drawings, in which:

FIGS. 1 a, 1 b show a bending machine according to a preferred embodiment in a perspective view and a view from above,

FIGS. 2 a, 2 b show structural element components of a bending machine according to preferred embodiments in a sectional representation and in a view from above onto a bending die according to a first particularly preferred embodiment,

FIGS. 3 a, 3 b show a bending die according to a second particularly preferred embodiment and during a change of the bending die via a robot gripper arm in a perspective view,

FIGS. 4 a, 4 b show the bending die according to the embodiment according to FIG. 3 a after fitting on a bending machine has been effected in a view from the side and in a sectional representation as well as in a view from the side and in a sectional representation with a robot gripper arm arranged on the bending die,

FIGS. 5 a, 5 b show the bending die according to the embodiment according to FIG. 2 b during a transport via a robot gripper arm with an auxiliary tool in a view from the side as well as in a perspective view before a contacting between the bending die and a robot gripper arm,

FIGS. 6 a, 6 b show the bending die according to the embodiment according to FIG. 2 b during a fitting and during a locking on a bending die receiver in a perspective representation,

FIGS. 7 a, 7 b show the bending die according to the embodiment according to FIG. 2 b after fitting and locking on the bending die receiver have been effected in a view from the side with associated sectional representation as well as in a perspective representation in an unlocked state,

FIGS. 8 a, 8 b show a guiding nozzle of a feeding device according to two particularly preferred embodiments in each case in three orthogonal side views and a perspective representation.

DETAILED DESCRIPTION OF THE INVENTION

FIG. 1 a shows a machine 3 for bending material 4 in wire, rod or band form for producing stirrups 17 for reinforced concrete construction, comprising a supporting frame 18 and a feeding device 21 with a guiding nozzle 2, via which material 4 to be bent can be fed to a bending head 5 (cf. FIG. 2 a et seq.). A bending die 1 for bending the material 4 is arranged in a bending die receiver 13 (see FIG. 2 a et seq.).

The bending machine 3 comprises a robot gripper arm 7 of a multi-axis robot 25, interacting with the material 4 and the bending die 1, wherein the robot gripper arm 7 comprises a control device 6 for controlling the robot gripper arm 7. The control device 6 is configured to automatically move the robot gripper arm 7 to take bent material 4 in the form of stirrups 17 out of the bending machine 3 and to change the bending die 1 or the guiding nozzle 2.

The bent material 4 is deposited on a magazine 8 to be filled on two sides, wherein the filled magazine 8 is rotated by a moving device 9 in the form of a rotating device 10 and is automatically removed from the bending machine 3 by autonomous driverless transport means 11.

The magazine 8 comprises a marker 12 in the form of an RFID chip or the like for identifying the magazine 8 in order to ascertain a desired locality for the further logistics.

The magazine 8 is provided for depositing bent material 4 on two sides and a further magazine 34 is provided for intermediate storage of bending dies 1 or guiding nozzles 2.

The magazine 8 (and where appropriate the further magazine 34) is equipped with the moving device 9 in the form of the rotating device 10.

FIG. 1 b shows a further bending machine 3, which interacts with a robot gripper arm 7 to take out stirrups 17, bending dies 1 or guiding nozzles 2 in order to fit other bending dies 1 or guiding nozzles 2 in the case of altered requirements on the material 4 to be bent and where appropriate to lock them in place using the robot gripper arm 7.

In this embodiment the control device 6 is spatially separated from the robot gripper arm 7 and is in signal-carrying connection (wired or wireless) with the robot gripper arm 7. Through the arrangement of the robot gripper arm 7 and the control device 6 for controlling the robot gripper arm 7, a method for automatically changing bending dies 1 or guiding nozzles 2 of the bending machine 3 can be carried out, wherein the control device 6 is programmed, or transmits instructions to the robot gripper arm 7, to automatically move the robot gripper arm 7 to take the bent material 4 out of the bending machine 3 and to change the bending die 1 and/or guiding nozzle 2 located in the bending machine 3.

The method for automatically changing the bending dies 1 or the guiding nozzles 2 of the bending machine 3 can be performed by way of example as follows: material 4 in wire, rod or band form is fed to the bending head 5 through the guiding nozzle 2 of the feeding device 21 and bent via the bending die 1 and then the bent material 4 is taken out of the bending machine 3 by the robot gripper arm 7 controlled via the control device 6. If another bending die 1 or guiding nozzle 2 is needed, the bending die 1 or the guiding nozzle 2 is removed from the bending machine 3 by the robot gripper arm 7, or where appropriate by another robot gripper arm 7, in order to be able to arrange a further bending die 1 or a further guiding nozzle 2 on the bending machine 3 using the robot gripper arm 7. After that, the material 4 or new material 4 can be fed to the bending head 5 through the further guiding nozzle 2 or bent via the further bending die 1 and the bent material 4 can be removed from the bending machine 3 by the robot gripper arm 7.

The magazine 8 has not yet been filled by the robot gripper arm 7, wherein an empty autonomous driverless transport means 11 is in standby position in order to further transport stirrups 17 from the bending machine 3.

Bent material 4 can be deposited on the magazine 8 by the robot gripper arm 7, wherein the autonomous driverless transport means 11 is provided for automatic maneuvering of parts of the magazine 8. The magazine 8 can in general comprise a large number of programmable markers 12 for identifying the magazine 8 or parts of the magazine 8.

The cutting device comprised by the bending machine 3 is not visible for the sake of clarity. In general, however, the cutting device, which can be formed of a blade and a counterblade movable relative to the blade, can be provided between the bending head 5 and the feeding device 21. The feeding device 21 can have a first end, facing the bending head 5, and a second, opposite, end, wherein the blade of the cutting device is arranged at the first end and at the second end the feeding device 21 is mounted on the supporting frame 18 pivotable about a pivot point, with the result that through a pivoting movement of the feeding device 21 about the pivot point a relative movement between the blade and the counterblade of the cutting device is brought about to carry out a cutting. A lever arm is preferably provided, which is connected at one end to the first end of the feeding device 21 and at an opposite end is mounted on the supporting frame 18 of the bending machine 3 pivotable about a pivot point. The lever arm and the feeding device 21 particularly preferably enclose an angle of approximately 90°.

FIG. 2 a shows a section through structural element components of a bending machine 3 which are provided for the bending process for the material 4. The bending die 1 comprises a bending head 5, which functions as a bending pin, and a bending roll 20, which acts as a bending mandrel.

Two drives 19, which generate an infeed in two orthogonal spatial directions, are arranged indirectly on the bending die 1.

The bending die 1 comprises a further marker 36 for identifying the bending die 1 in order to position the bending die 1 for a respective customer order fully automatically on the bending machine 3 using the robot gripper arm 7. Analogously, the guiding nozzle 2 can comprise a further marker 36 for identifying the guiding nozzle 2.

FIG. 2 b shows a bending die 1 of a first preferred embodiment during a bending process for material 4 represented enlarged.

The material 4 has a diameter 33 of 10 mm, wherein preferably a diameter 33 of between 5 mm and 20 mm is used.

The material 4 is arranged between the bending roll 20 and the bending head 5, wherein the bending head 5 is rotated about the axis of rotation of the bending roll 20 in order to generate a bending radius defined by the bending roll 20, wherein a bending angle of the material 4 can be predefined by an angle of rotation.

The bending die 1 comprises a locking device 38, which remains located on the bending machine 3 during a change of the bending die 1 and is formed in the form of a locking disk 16 rotatable relative to the bending die receiver 13 or, respectively, relative to the bending machine 3.

FIG. 3 a shows a second preferred embodiment of a bending die 1 for a bending machine 3 and likewise suitable for an automatic change via a robot gripper arm 7, wherein underneath the bending roll 20 and the bending head 5 a locking device 38 is arranged on a centering shaft 45 for orthogonal arrangement (see FIG. 3 b ) inside a bending die receiver 13 of the bending machine 3.

The locking device 38 is present formed in the form of a groove as a circumferential notch, but can for example also be designed in the form of locally delimited depressions. Pins 15, a retaining ring or the like can engage in the groove to form a positive locking in the orthogonal direction onto the bending die receiver 13.

The bending roll 20 and the bending head 5 are arranged with their axes of revolution and axes of rotation parallel to each other and remain arranged parallel to each other during the bending process of the material 4.

In FIG. 3 b it can be seen how the robot gripper arm 7 inserts the bending die 1 into the bending die receiver 13 in the orthogonal direction using a gripper tool 48 in the form of gripping jaws 49, which are formed to receive bent material 4 and guiding nozzles 2.

For this purpose, the gripping jaws 49 grip the bending die 1 on a contacting section, which is arranged underneath the bending head 5, whereby a collision with the bending die receiver 13 is prevented.

FIG. 4 a shows the bending die 1, wherein the robot gripper arm 7 has pushed the bending die 1 completely into the bending die receiver 13 of the bending machine 3 orthogonal to the bending die receiver 13, whereby spring-loaded pins 15 are displaced laterally and click into place in the locking device 38 of the bending die 39.

To disassemble the bending die 1, the robot gripper arm 7 can lift the bending die 13 off the bending die receiver 13 orthogonally, wherein the positive locking generated by the pins 15 is overcome by sloping surfaces of the locking device 38 and/or the pins 15. As an alternative or in addition, the pins 15 can also be spaced apart mechanically or electronically from the locking device 38 before the bending die is lifted off. The locking is not restricted to pins 15 and can be formed by other locking means such as a spring washer or clamping devices for pressing onto the centering shaft 45.

The locking device 37 of the bending die receiver 13 comprises a large number of spring-loaded pins 15, wherein the number of pins 15 is in general as desired and the pins 15 can also be replaced by other force-loaded means in order to guarantee a securing of the bending die 1 up to a threshold value of a vertical force—initiated by the robot gripper arm 7.

FIG. 4 b differs from FIG. 4 a only to the effect that the robot gripper arm 7 is arranged on the bending die 1 in order to illustrate the change of the bending die 1.

FIGS. 5 a and 5 b show the bending die 1 according to FIG. 2 b , wherein a robot gripper arm 7 arranged on the bending die 1 comprises a gripper tool 48 in the form of gripping jaws 49, with which two auxiliary tools 7 are received. In general, only one auxiliary tool 7 can be provided and/or the auxiliary tools 7 can be provided as an alternative to the gripping jaws 49.

The bending die 1 comprises two openings 46 in the form of two drilled holes 47 for receiving the auxiliary tools 7, wherein one drilled hole 47 is concealed by the bending head 5. The opening 46 can in general also be formed as a slot or groove for arranging the auxiliary tool 14 in areas inside the opening 46 of the bending die 1.

The auxiliary tools 14 are formed cylindrical and in each case comprise a conical free end 51 spaced apart by a groove 50. The auxiliary tools 14 are inserted in the openings 46 up to the groove 50 and for example through a lateral movement can generate a positive locking against gravity to move the bending die 1. At least one of the auxiliary tools 14 is particularly preferably spring-loaded, wherein in general other force-loaded means apart from springs are also applicable in the present invention.

In FIG. 6 a it can be seen that the at least one bending die 1 is pushed into the bending die receiver 13 laterally by the at least one robot gripper arm 7, wherein a locking disk 16 is provided on the bending die receiver 13 for locking the bending die 1 in place. The locking disk 16 can be regarded as part of the bending die 1 or the bending die receiver 13.

FIG. 6 b shows the locking of the bending die 1 on the bending die receiver 13 via the locking disk 16, wherein the bending die 1 is fixed via the locking disk 16 by an auxiliary tool 14 of the robot gripper arm 7 and the bending machine 3 rotates the bending die receiver 13 relative to the locking disk 16.

A section through the bending die 1 is represented in FIG. 7 a , wherein it can be seen that the bending die 1 can be secured in three bidirectional orthogonal spatial directions via a corresponding locking device 38 of the bending die 1. The locking disk 16 is pushed into the locking device 38 for positive locking through the rotation relative to the bending die receiver 13.

Via the auxiliary tool 14, the bending die 1 can be locked in the bending die receiver 13 by fixing via the locking disk 16, wherein the locking disk 16 is preferably held by the robot gripper arm 7 during the locking process.

A free end of the (circular-segment-type) locking disk 16 is formed corresponding to the locking device 38—in the form of a circular-segment-type groove.

In this embodiment precisely one robot gripper arm 7 is provided for taking out the material 4 and for changing the bending die 1 and the guiding nozzle 2.

FIG. 7 b shows the bending die 1 in a fixed position on the bending die receiver 13, wherein the locking disk 16 comprises receivers 40 in the form of slots 41 for the auxiliary tool 14 of the robot gripper arm.

Underneath the locking disk 16, a spring-pretensioned ball valve (concealed by the bending die receiver 13 in the representation) is provided for securing the locking disk 16 in an unlocked position 43 (see FIG. 2 b ) and the existing locked position 44.

FIG. 8 a shows an embodiment of a guiding nozzle 2 of a feeding device 21 of a bending machine 3, which can be automatically removed from the bending machine 3 or fitted on the bending machine 3 by the robot gripper arm 7.

The guiding nozzle 2 has a bar, protruding transversely from the guiding nozzle 2, which comprises two notches oriented orthogonal to a longitudinal extent of the guiding nozzle 2.

The robot gripper arm 7 can receive the guiding nozzle 2 on lateral surfaces of the guiding nozzle 2 or via the bar of the guiding nozzle 2 via a gripper tool 48 in the form of gripping jaws 49.

The bar has a tapering toward the guiding nozzle 2 which can be used in particular to safely transport the guiding nozzle 2.

In general, it is also conceivable that the guiding nozzle 2 (analogously to the bending die 1) has an opening or drilled hole, which can be used for the transport via a gripper tool 48 in the form of the auxiliary tool 14.

FIG. 8 b shows a further embodiment of a guiding nozzle 2, which can be fully automatically changed by the robot gripper arm 7 via the control device 6 configured for this.

The guiding nozzle 2 has a notch on a transversely protruding bar.

The guiding nozzle 2 has a further transversely protruding bar spaced apart from the bar spatially, which extends up to a free end of the guiding nozzle 2. 

1. A method for automatically changing at least one bending die and/or at least one guiding nozzle of a machine for bending material in wire, rod or band form, characterized by the method steps, to be carried out in particular in chronological order: material in wire, rod or band form is fed to at least one bending head through the at least one guiding nozzle of at least one feeding device and bent via the at least one bending die the bent material is taken out of the bending machine by a robot gripper arm controlled via at least one control device the at least one bending die and/or the at least one guiding nozzle is removed from the bending machine by a, preferably the same, robot gripper arm optionally, at least one further bending die and/or at least one further guiding nozzle is arranged on the bending machine by a, preferably the same, robot gripper arm optionally, material in wire, rod or band form is fed to the at least one bending head through the at least one further guiding nozzle and/or bent via the at least one further bending die, optionally, the bent material is removed from the bending machine by a, preferably the same, robot gripper arm.
 2. The method according to claim 1, wherein the bent material is deposited on at least one magazine, wherein the at least one magazine is moved by a moving device, preferably rotating device, and/or is automatically maneuvered by at least one autonomous driverless transport means, preferably via at least one marker for identifying the at least one magazine.
 3. The method according to claim 1, wherein the at least one bending die is inserted in at least one bending die receiver of the bending machine orthogonally to the at least one bending die receiver and/or is pushed laterally into the at least one bending die receiver by the at least one robot gripper arm, wherein it is preferably provided that the at least one bending die is locked in place, particularly preferably by an auxiliary tool of the robot gripper arm, via at least one pin and/or at least one locking disk.
 4. An arrangement of at least one robot gripper arm and at least one control device for controlling the at least one robot gripper arm, wherein the at least one control device is configured to move the at least one robot gripper arm to take bent material, preferably at least one stirrup, out of a bending machine and to change at least one bending die and/or at least one guiding nozzle.
 5. A bending machine for bending material in wire, rod or band form, in particular for producing stirrups for reinforced concrete construction, comprising a supporting frame, at least one bending head, preferably with two drives, which are aligned orthogonal to each other, and/or at least one bending roll, at least one feeding device with at least one guiding nozzle, via which material to be bent can be fed to the at least one bending head, at least one bending die, releasably arranged in a bending die receiver, for bending the material, at least one robot gripper arm, preferably of a multi-axis robot, and at least one control device for controlling the at least one robot gripper arm, wherein the at least one control device is configured to move the at least one robot gripper arm to take bent material, preferably at least one stirrup, out of the bending machine and to change the at least one bending die and/or the at least one guiding nozzle.
 6. The bending machine according to claim 5, wherein a cutting device is provided arranged between the at least one bending head and the at least one feeding device, preferably formed of at least one blade and at least one counterblade movable relative to the at least one blade, wherein the at least one feeding device has a first end, facing the at least one bending head, and a second, opposite, end, wherein the at least one blade of the cutting device is arranged at the first end and at the second end the at least one feeding device is mounted on the supporting frame pivotable about a pivot point, with the result that through a pivoting movement of the at least one feeding device about the pivot point a relative movement between the at least one blade and the at least one counterblade of the cutting device can be brought about to carry out a cutting, wherein a lever arm is provided, which is connected at one end to the first end of the at least one feeding device and at an opposite end is mounted on the supporting frame of the bending machine pivotable about a pivot point, wherein it is preferably provided that the lever arm and the at least one feeding device enclose an angle of substantially 90°.
 7. The bending machine according to claim 5, wherein precisely one robot gripper arm is provided for taking out the material and for changing the at least one bending die and/or the at least one guiding nozzle, and/or the material to be bent has a diameter of between 5 mm and 20 mm, preferably between 6 mm and 16 mm.
 8. The bending machine according to claim 5, wherein at least one magazine is provided for depositing bent material, preferably at least on two sides, and/or at least one further magazine is provided for intermediate storage of the at least one bending die and/or the at least one guiding nozzle, wherein it is preferably provided that the at least one magazine and/or the at least one further magazine comprises a moving device, preferably rotating device.
 9. The bending machine according to claim 8, wherein bent material can be deposited on the at least one magazine by the at least one robot gripper arm, wherein at least one autonomous driverless transport means is provided for automatically maneuvering the at least one magazine, wherein it is preferably provided that the at least one magazine comprises at least one marker for identifying the at least one magazine.
 10. The bending machine according to claim 5, wherein the at least one bending die and/or the at least one guiding nozzle comprises at least one further marker for identifying the at least one bending die and/or the at least one guiding nozzle.
 11. The bending machine according to claim 5, wherein at least one locking device is provided for locking the at least one bending die in the at least one bending die receiver, wherein it is preferably provided that the at least one bending die can be secured via a corresponding locking device of the at least one bending die and/or in three bidirectional orthogonal spatial directions.
 12. The bending machine according to claim 11, wherein the at least one locking device comprises at least one, preferably spring-loaded, pin and/or at least one locking disk for securing the at least one bending die, wherein it is preferably provided that the at least one bending die receiver and/or the at least one bending die is rotatable relative to the at least one locking disk, and/or the at least one locking disk comprises a receiver, preferably a slot, for an optionally present auxiliary tool of the at least one robot gripper arm and/or at least one, preferably spring-pretensioned, ball valve is provided for securing the at least one locking disk in an unlocked position and/or a locked position.
 13. The bending machine according to claim 5, wherein the at least one robot gripper arm comprises at least one gripper tool, which is formed to receive bent material and at least one bending die and/or at least one guiding nozzle, wherein the at least one gripper tool is formed as gripping jaws and/or comprises at least one, preferably spring-loaded, auxiliary tool to be arranged in areas inside an opening and/or drilled hole of at least one bending die.
 14. The bending machine according to claim 13, wherein the at least one auxiliary tool is formed substantially cylindrical and/or comprises at least one conical free end, preferably spaced apart by a groove, and/or at least one bending die can be locked in at least one bending die receiver, preferably by fixing a locking disk of the at least one bending die, via the at least one auxiliary tool.
 15. A bending die for use in the bending machine according to claim 5 with at least one locking device, wherein the at least one locking device is arranged on at least one centering shaft for, preferably orthogonal, arrangement inside at least one bending die receiver of the bending machine and/or is formed in the form of a locking disk rotatable relative to at least one bending die receiver, wherein it is preferably provided that the bending die comprises at least one opening and/or drilled hole for receiving at least one auxiliary tool of a robot gripper arm. 